[PSUBS-MAILIST] Manipulator arm

[Sean T. Stevenson via Personal_Submersibles]

Full continuous rotation isn't that complicated, other than one part
which needs be machined with O-ring grooves, oil channels and a shaft
connection (taper, spline or keyway).  Use a small hydraulic motor
connected to the end of the arm, recessed into an outer slip ring.  The
motor can be connected traditionally with hoses for supply and return. 
The inner slip ring connects to the motor shaft and seals to the outer
slip ring with o-rings.  For a wrist with only one function downstream
(jaw open and close), you'll need three O-rings, creating two oil
channels in between.   If you need more functions, just keep adding
channels / o-rings.  If you secure the inner slip ring to the motor
shaft with a nut, that central cavity in the inner slip ring can become
the cylinder that operates the jaw - just drop a cap over it to seal it
off from the motor shaft, and install a piston and outer cap.  Then
plumbing the cylinder is as simple as drilling a hole through the inner
slip ring, connecting each end of the cylinder cavity to its
corresponding oil channel on the outside.

Sean


On 2014-05-30 20:21, Alan James via Personal_Submersibles wrote:
> All,
> would this idea for rotating the gripper have merit. (See attachment.)
> It is simple & can give 90 degrees + of rotation. (would you need more?)
> The piston pulls a bolt in a rod down an angled slot in a pipe,
> turning the rod & gripper.
> Ignore the gripper on the end, it's just for show & doesn't have a
> closing mechanism.
> Alan
>
> ------------------------------------------------------------------------
> *From:* swaters via Personal_Submersibles
> <personal_submersibles at psubs.org>
> *To:* personal_submersibles at psubs.org
> *Sent:* Friday, May 30, 2014 12:36 PM
> *Subject:* [PSUBS-MAILIST] Manipulator arm
>
> Hank,
> That would be great. So on a four function would you have eight
> penetrations or four penetrations? My goal is to make a good and not
> to expensive (under $2000) manipulator arm for psub members.
>
> My address is:
> Scott Waters
> 3213 Arnold Ave
> Bldg 122
> Salina, KS 67401
>
> Thank you,
> Scott Waters
>
>
>
>
> Sent from my U.S. Cellular© Smartphone
>
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